#ifndef Kalman_h
#define Kalman_h

typedef struct {
  // P matrix.
  float p00;
  float p01;
  float p10;
  float p11;

  // Angle and bias matrix.
  float x0;
  float x1;     
} 
FilterData;

typedef struct {
  double q; //process noise covariance
  double r; //measurement noise covariance
  double x; //value
  double p; //estimation error covariance
  double k; //kalman gain
} 
StateData;

#endif

